Learning High-Level Decision Making with an Interaction-Aware Attention-Based Network in Autonomous Driving
Proposed DecisionPerceiver architecture projects dynamic agent features into a fixed-size latent space, regulating granularity with latent queries, improving scalability. Evaluated across three driving scenarios shows consistent gains and generalization.
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[Submitted on 29 Jun 2026]
Title:Learning High-Level Decision Making with an Interaction-Aware Attention-Based Network in Autonomous Driving
View a PDF of the paper titled Learning High-Level Decision Making with an Interaction-Aware Attention-Based Network in Autonomous Driving, by Marcelo Contreras and 3 other authors
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Abstract:Reliable learning-based high-level decision making for lane changes and speed control in automated driving must accommodate dynamically sized inputs due to varying scene traffic flow. DeepSet and its variants represent the state of the art among shared-encoder approaches; however, they neglect explicit traffic interaction modeling, limiting performance in negotiation-intensive scenarios such as intersections. Attention-based methods capture interactions among static and dynamic agents, but incur quadratic memory and computational complexity and provide limited control over representation granularity. Inspired by Perceiver IO, an attention-based architecture, DecisionPerceiver, is proposed to project dynamic agent features into a fixed-size latent space, where feature granularity is regulated by the number of latent queries, improving scalability for larger networks. A finer discretization of the action set is further proposed to increase the performance gain due to interaction awareness. Extensive evaluations across three driving scenarios that require different levels of interaction awareness demonstrate consistent performance gains and generalization across various navigation objectives. In addition, the proposed architecture is assessed in scenarios with an increasing number of vehicles to demonstrate scalability.
Comments: 6 pages, 5 figures, 3 tables, submitted to 2026 IEEE Intelligent Transportation Systems Conference (ITSC)
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.09725 [cs.RO]
(or arXiv:2607.09725v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.09725
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Willi Poh [view email] [v1] Mon, 29 Jun 2026 11:54:04 UTC (373 KB)
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